INSPECTION VEHICLE

• US 20180232874A1
• Filed: 02/10/2017
• Published: 08/16/2018
• Est. Priority Date: 02/10/2017
• Status: Abandoned Application

• Current Assignee: EcoSubsea AS
• Original Assignee: EcoSubsea AS
• Inventors: OSTERVOLD, Tor Mikal, Ostervold, Klaus
• Application Number:
  US15/430,056
• Publication Number:
  US 20180232874A1
• Time in Patent Office: Days
• CPC Class Codes: B60B 19/006 Magnetic wheels
• CPC Class Codes: B60Y 2200/47 Climbing vehicles, e.g. facade climbing devices
• CPC Class Codes: B62D 57/04 having other than ground-engaging propulsion means, e.g. having propellers arrangement of jet-propulsion units B60K
• CPC Class Codes: G01B 17/02 for measuring thickness
• CPC Class Codes: G01B 7/06 for measuring thickness measuring during the manufacture of coatings C23C14/54
• CPC Class Codes: G01N 17/04 Corrosion probes
• CPC Class Codes: G03B 17/08 Waterproof bodies or housings

Abstract

Inspection vehicle (1) for under water inspection of coating, marine growth, structural integrity and corrosion on ferromagnetic ship hulls and other ferromagnetic structures. The inspection vehicle is distinctive in that it comprises

• • a non-magnetic element (2),
  • at least one magnetic wheel or device (3) operatively arranged to the element, and
  • a watertight camera (4) for visual inspection attached to the element or other structure of the inspection vehicle,
  • wherein the inspection vehicle comprises
  • one coupling side (5) where the at least one magnetic wheel or device is operatively arranged for the inspection vehicle to couple magnetically through coating, any marine growth and corrosion products and allow rolling the inspection vehicle on said structure, in horizontal to vertical to upside down-orientation while holding the inspection vehicle attached to the structure, and
  • one non-coupling side (6) oriented in substance in opposite direction to the coupling side, where the at least one magnetic wheel is not operatively arranged and the non-coupling side will not couple magnetically to said structure.

A method for operating the inspection vehicle is also provided.

Claims

1. An inspection vehicle for under water inspection of coating, marine growth, structural integrity and corrosion on ferromagnetic ship hulls and other ferromagnetic structures, the inspection vehicle comprising:

a non-magnetic element;

at least one magnetic wheel or magnetic device operatively arranged to the element;

a watertight camera for visual inspection attached to the element or other structure of the inspection vehicle;

one coupling side where the at least one magnetic wheel or device is operatively arranged for the inspection vehicle to couple magnetically through coating, any marine growth and corrosion products and allow rolling the inspection vehicle on said structure, in horizontal to vertical to upside down-orientation while holding the inspection vehicle attached to the structure; and

one non-coupling side oriented in substance in opposite direction to the coupling side, where the at least one magnetic wheel is not operatively arranged and the non-coupling side will not couple magnetically to said structure.

2. The inspection vehicle according to claim 1, wherein it comprises an non-magnetic element that is single or double concave.

3. The inspection vehicle according to claim 1, wherein it comprises at least two magnetic wheels arranged apart to the non-magnetic element.

4. The inspection vehicle according to claim 1, wherein the non-magnetic element is one of:

a concave shell structure that is in substance circular or elongated, wherein the magnetic wheels are encompassed by said shell structure, the wheels extending out from the shell structure only on a coupling side, being an underside of the inspection vehicle to face and attach to the inspected structure during operation, preferably said shell structure also extends laterally around at least the magnetic wheels;

a curved beam with the concave side to face outwards from the inspected structure during operation, wherein the beam is one of elongated and equidistant with respect to length and width, preferably said curved beam also extends laterally around at least the magnetic wheels;

a curved truss-structure with the concave side to face upwards from the inspected structure during operation, wherein the curved truss structure is one of elongated and equidistant with respect to length and width, preferably said curved truss-structure also extends laterally around at least the magnetic wheels; and

a concave shell structure, beam structure or truss structure, preferably encompassing the magnetic wheels laterally, and having curvature or concavity so that when the inspection vehicle hangs along a vertical ship hull side the center of gravity is at elevation below a midpoint between the at least two axially apart wheels, preferably the lower elevation wheels are larger in number and/or weight than the higher elevation wheel when the inspection vehicle hangs along a vertical ship hull.

5. The inspection vehicle according to claim 1, wherein the inspection vehicle comprises at least one of, in any combination:

a sensor for measuring coating and marine growth thickness, preferably the sensor is an inductance based sensor;

a sensor for measuring the thickness of a hull or other structure being inspected, such as a tank wall thickness, a pipe wall thickness or a vessel hull thickness, preferably the sensor is an ultrasound based sensor;

a means for placing out sensors or other equipment, such as a solenoid-operated release mechanism holding the sensor or equipment until a release position is reached;

a light; and

a combination of an induction based sensor and an ultrasound-based sensor, which combination measures lift-off from the ferromagnetic structure being inspected, coating thickness, marine growth thickness and type and ferromagnetic structure wall or hull thickness.

6. The inspection vehicle according to claim 1, comprising one or more wheels with a drive mechanism.

7. The inspection vehicle according to claim 1, comprising a position or motion sensor, and associated software arranged to document the position and motions at all time during an inspection run.

8. A method for under water inspection of coating, marine growth, structural integrity and corrosion on ferromagnetic ship hulls and other ferromagnetic structures, using an inspection vehicle according to claim 1, the method comprising:

starting recording with the camera,

lowering the inspection vehicle down the inspected structure and below the surface, while the inspection vehicle hangs in a rope/cable, by letting out rope/cable, until the desired depth or position has been reached; and

repeating the steps at desired positions for inspection.

9. The method according to claim 8, comprising inspecting during the length of run along the structure or at predetermined positions for at least one of:

coating thickness, marine growth, structural integrity, structure wall thickness and corrosion; and

optionally to adjust the magnetic coupling force.